工业机器人轨迹衔接方法研究

摘要

在笛卡尔空间下的机器人轨迹规划中，常用一段“小圆弧轨迹”衔接运动过程中的前后两条轨迹，以达到不用把速度降到0就能平稳拐弯的目的。对高速高精度机器人而言，平稳拐弯要求轨迹足够平滑，而小圆弧过渡方法会使关节的加速度轨迹发生跳变而影响轨迹的平滑性。针对这一不足，提出用五次多项式插值的方法平稳衔接两条轨迹，推导了该五次多项式系数矩阵的求解方法。通过仿真验证表明，新方法能使轨迹更加平滑。%In the trajectory planning of industry robot in Cartesian space,a small“arc-curve”is always used to connect two traj-ectories in order to change the moving direction smoothly without decreasing velocity down to zero. It requires trajectory smooth enough to turn the direction during a high-speed and high-precision operation of industry robot. However,the small“arc-curve”would bring mutations to the trajectory of acceleration. To avoid such disadvantage,a new connection method based on 5th-order polynomial inter-polation was proposed,and some derivations which showed how to compute the coefficient matrix of the polynomial were listed. The simulation attests that the new method connects two trajectories more smoothly.